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<div class="title">optimization_algorithm_levenberg.h</div>  </div>
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<a href="optimization__algorithm__levenberg_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SOLVER_LEVENBERG_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SOLVER_LEVENBERG_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimization__algorithm__with__hessian_8h.html">optimization_algorithm_with_hessian.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html">   37</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html">OptimizationAlgorithmLevenberg</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html">OptimizationAlgorithmWithHessian</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#aecdac695d6406eb2234bbd8a0c4d53a3">OptimizationAlgorithmLevenberg</a>(<a class="code" href="classg2o_1_1_solver.html">Solver</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">solver</a>);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a926c821217c53b10fec9275b6fa5e548">~OptimizationAlgorithmLevenberg</a>();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">SolverResult</a> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a7140fa989b54eac4e09ba17829dcada0">solve</a>(<span class="keywordtype">int</span> iteration, <span class="keywordtype">bool</span> online = <span class="keyword">false</span>);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a67308ead9762f478e29385229ea4b138">printVerbose</a>(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#afa4684ccfb8b87e85d0102cbe412f105">   52</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#afa4684ccfb8b87e85d0102cbe412f105">currentLambda</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#aec7bba815e20361aa7ccc4661f90a034">_currentLambda</a>;}</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a0fd2212e456428e44ddac693f6d27ac8">setMaxTrialsAfterFailure</a>(<span class="keywordtype">int</span> max_trials);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a5d467a866c6ee90aaed9b4ccaf29e5e5">   58</a></span>&#160; 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     <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a9388e5e7800b18acb0db0a9a7be031a6">setUserLambdaInit</a>(<span class="keywordtype">double</span> lambda);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a6d458d8a89069fab92fab75c1255a523">   66</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a6d458d8a89069fab92fab75c1255a523">levenbergIteration</a>() { <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a2319771c8d3ee0f773bdb86d5416bab7">_levenbergIterations</a>;}</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="comment">// Levenberg parameters</span></div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a1f3b03bbcb2dbeed686069bed8783b80">   70</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;int&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a1f3b03bbcb2dbeed686069bed8783b80">_maxTrialsAfterFailure</a>;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a021c97d3f8205ec2ae7fde147f98b452">   71</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;double&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a021c97d3f8205ec2ae7fde147f98b452">_userLambdaInit</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#aec7bba815e20361aa7ccc4661f90a034">   72</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#aec7bba815e20361aa7ccc4661f90a034">_currentLambda</a>;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#ac09602f23e52c5dbc6be1bf77e9f9d5f">   73</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#ac09602f23e52c5dbc6be1bf77e9f9d5f">_tau</a>;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a4951bc2e2fcca2c4eae4864690a4c087">   74</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a4951bc2e2fcca2c4eae4864690a4c087">_goodStepLowerScale</a>; </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a16d8b5540cd7ae0c132a565e3f49c021">   75</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a16d8b5540cd7ae0c132a565e3f49c021">_goodStepUpperScale</a>; </div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a8bcb1a957056cba788072992c5a8a7a1">   76</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a8bcb1a957056cba788072992c5a8a7a1">_ni</a>;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a2319771c8d3ee0f773bdb86d5416bab7">   77</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a2319771c8d3ee0f773bdb86d5416bab7">_levenbergIterations</a>;   </div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">//RAUL</span></div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_levenberg.html#a7f0b375c45a9f91f2676548591273c8d">   79</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a7f0b375c45a9f91f2676548591273c8d">_nBad</a>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#a2141aed034c5db8b2943aad5853b0cde">computeLambdaInit</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_optimization_algorithm_levenberg.html#aa49f788d13c2ab6026ebaf36f887dc9a">computeScale</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  };</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a0fd2212e456428e44ddac693f6d27ac8"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a0fd2212e456428e44ddac693f6d27ac8">g2o::OptimizationAlgorithmLevenberg::setMaxTrialsAfterFailure</a></div><div class="ttdeci">void setMaxTrialsAfterFailure(int max_trials)</div><div class="ttdoc">the number of internal iteration if an update step increases chi^2 within Levenberg-Marquardt ...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:191</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a6d458d8a89069fab92fab75c1255a523"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a6d458d8a89069fab92fab75c1255a523">g2o::OptimizationAlgorithmLevenberg::levenbergIteration</a></div><div class="ttdeci">int levenbergIteration()</div><div class="ttdoc">return the number of levenberg iterations performed in the last round </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:66</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a2141aed034c5db8b2943aad5853b0cde"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a2141aed034c5db8b2943aad5853b0cde">g2o::OptimizationAlgorithmLevenberg::computeLambdaInit</a></div><div class="ttdeci">double computeLambdaInit() const</div><div class="ttdoc">helper for Levenberg, this function computes the initial damping factor, if the user did not specify ...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:166</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_aa49f788d13c2ab6026ebaf36f887dc9a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#aa49f788d13c2ab6026ebaf36f887dc9a">g2o::OptimizationAlgorithmLevenberg::computeScale</a></div><div class="ttdeci">double computeScale() const</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:182</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html">g2o::OptimizationAlgorithmWithHessian</a></div><div class="ttdoc">Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:39</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a926c821217c53b10fec9275b6fa5e548"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a926c821217c53b10fec9275b6fa5e548">g2o::OptimizationAlgorithmLevenberg::~OptimizationAlgorithmLevenberg</a></div><div class="ttdeci">virtual ~OptimizationAlgorithmLevenberg()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:57</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a1f3b03bbcb2dbeed686069bed8783b80"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a1f3b03bbcb2dbeed686069bed8783b80">g2o::OptimizationAlgorithmLevenberg::_maxTrialsAfterFailure</a></div><div class="ttdeci">Property&lt; int &gt; * _maxTrialsAfterFailure</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:70</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_aec7bba815e20361aa7ccc4661f90a034"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#aec7bba815e20361aa7ccc4661f90a034">g2o::OptimizationAlgorithmLevenberg::_currentLambda</a></div><div class="ttdeci">double _currentLambda</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:72</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a16d8b5540cd7ae0c132a565e3f49c021"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a16d8b5540cd7ae0c132a565e3f49c021">g2o::OptimizationAlgorithmLevenberg::_goodStepUpperScale</a></div><div class="ttdeci">double _goodStepUpperScale</div><div class="ttdoc">upper bound for lambda decrease if a good LM step </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:75</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a7f0b375c45a9f91f2676548591273c8d"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a7f0b375c45a9f91f2676548591273c8d">g2o::OptimizationAlgorithmLevenberg::_nBad</a></div><div class="ttdeci">int _nBad</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:79</div></div>
<div class="ttc" id="classg2o_1_1_solver_html"><div class="ttname"><a href="classg2o_1_1_solver.html">g2o::Solver</a></div><div class="ttdoc">Generic interface for a sparse solver operating on a graph which solves one iteration of the lineariz...</div><div class="ttdef"><b>Definition:</b> solver.h:43</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a9388e5e7800b18acb0db0a9a7be031a6"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a9388e5e7800b18acb0db0a9a7be031a6">g2o::OptimizationAlgorithmLevenberg::setUserLambdaInit</a></div><div class="ttdeci">void setUserLambdaInit(double lambda)</div><div class="ttdoc">specify the initial lambda used for the first iteraion, if not given the SparseOptimizer tries to com...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:196</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a2319771c8d3ee0f773bdb86d5416bab7"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a2319771c8d3ee0f773bdb86d5416bab7">g2o::OptimizationAlgorithmLevenberg::_levenbergIterations</a></div><div class="ttdeci">int _levenbergIterations</div><div class="ttdoc">the numer of levenberg iterations performed to accept the last step </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:77</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html_a705d58d7bc19528a8ab718570d090cdf"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html#a705d58d7bc19528a8ab718570d090cdf">g2o::OptimizationAlgorithm::SolverResult</a></div><div class="ttdeci">SolverResult</div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:49</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a5d467a866c6ee90aaed9b4ccaf29e5e5"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a5d467a866c6ee90aaed9b4ccaf29e5e5">g2o::OptimizationAlgorithmLevenberg::maxTrialsAfterFailure</a></div><div class="ttdeci">int maxTrialsAfterFailure() const</div><div class="ttdoc">get the number of inner iterations for Levenberg-Marquardt </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:58</div></div>
<div class="ttc" id="optimization__algorithm__with__hessian_8h_html"><div class="ttname"><a href="optimization__algorithm__with__hessian_8h.html">optimization_algorithm_with_hessian.h</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a4951bc2e2fcca2c4eae4864690a4c087"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a4951bc2e2fcca2c4eae4864690a4c087">g2o::OptimizationAlgorithmLevenberg::_goodStepLowerScale</a></div><div class="ttdeci">double _goodStepLowerScale</div><div class="ttdoc">lower bound for lambda decrease if a good LM step </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:74</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a76f706f786f6f1ed351f0629b3bbd382"><div class="ttname"><a href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">g2o::Property::value</a></div><div class="ttdeci">const T &amp; value() const</div><div class="ttdef"><b>Definition:</b> property.h:56</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a85473a4073c76b1a52cf9cf175e31c45"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">g2o::OptimizationAlgorithmWithHessian::solver</a></div><div class="ttdeci">Solver * solver()</div><div class="ttdoc">return the underlying solver used to solve the linear system </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:56</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a8bcb1a957056cba788072992c5a8a7a1"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a8bcb1a957056cba788072992c5a8a7a1">g2o::OptimizationAlgorithmLevenberg::_ni</a></div><div class="ttdeci">double _ni</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:76</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html">g2o::OptimizationAlgorithmLevenberg</a></div><div class="ttdoc">Implementation of the Levenberg Algorithm. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_afa4684ccfb8b87e85d0102cbe412f105"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#afa4684ccfb8b87e85d0102cbe412f105">g2o::OptimizationAlgorithmLevenberg::currentLambda</a></div><div class="ttdeci">double currentLambda() const</div><div class="ttdoc">return the currently used damping factor </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:52</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_aecdac695d6406eb2234bbd8a0c4d53a3"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#aecdac695d6406eb2234bbd8a0c4d53a3">g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg</a></div><div class="ttdeci">OptimizationAlgorithmLevenberg(Solver *solver)</div><div class="ttdoc">construct the Levenberg algorithm, which will use the given Solver for solving the linearized system...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:43</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a67308ead9762f478e29385229ea4b138"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a67308ead9762f478e29385229ea4b138">g2o::OptimizationAlgorithmLevenberg::printVerbose</a></div><div class="ttdeci">virtual void printVerbose(std::ostream &amp;os) const</div><div class="ttdoc">called by the optimizer if verbose. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:201</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a7140fa989b54eac4e09ba17829dcada0"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a7140fa989b54eac4e09ba17829dcada0">g2o::OptimizationAlgorithmLevenberg::solve</a></div><div class="ttdeci">virtual SolverResult solve(int iteration, bool online=false)</div><div class="ttdoc">Solve one iteration. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.cpp:61</div></div>
<div class="ttc" id="classg2o_1_1_property_html"><div class="ttname"><a href="classg2o_1_1_property.html">g2o::Property&lt; int &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a4a4d18c98361a1288db724136d353596"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a4a4d18c98361a1288db724136d353596">g2o::OptimizationAlgorithmLevenberg::userLambdaInit</a></div><div class="ttdeci">double userLambdaInit()</div><div class="ttdoc">return the lambda set by the user, if &lt; 0 the SparseOptimizer will compute the initial lambda ...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:61</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_a021c97d3f8205ec2ae7fde147f98b452"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#a021c97d3f8205ec2ae7fde147f98b452">g2o::OptimizationAlgorithmLevenberg::_userLambdaInit</a></div><div class="ttdeci">Property&lt; double &gt; * _userLambdaInit</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:71</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_levenberg_html_ac09602f23e52c5dbc6be1bf77e9f9d5f"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_levenberg.html#ac09602f23e52c5dbc6be1bf77e9f9d5f">g2o::OptimizationAlgorithmLevenberg::_tau</a></div><div class="ttdeci">double _tau</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_levenberg.h:73</div></div>
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